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This textbook offers an introduction to differential geometry designed for readers interested in modern geometry processing. Working from basic undergraduate prerequisites, the authors develop manifold theory and Lie groups from scratch; fundamental topics in Riemannian geometry follow, culminating in the theory that underpins manifold optimization techniques. Students and professionals working in computer vision, robotics, and machine learning will appreciate this pathway into the mathematical concepts behind many modern applications. Starting with the matrix exponential, the text begins with an introduction to Lie groups and group actions. Manifolds, tangent spaces, and cotangent spaces follow; a chapter on the construction of manifolds from gluing data is particularly relevant to the reconstruction of surfaces from 3D meshes. Vector fields and basic point-set topology bridge into the second part of the book, which focuses on Riemannian geometry. Chapters on Riemannian manifolds encompass Riemannian metrics, geodesics, and curvature. Topics that follow include submersions, curvature on Lie groups, and the Log-Euclidean framework. The final chapter highlights naturally reductive homogeneous manifolds and symmetric spaces, revealing the machinery needed to generalize important optimization techniques to Riemannian manifolds. Exercises are included throughout, along with optional sections that delve into more theoretical topics. Differential Geometry and Lie Groups: A Computational Perspective offers a uniquely accessible perspective on differential geometry for those interested in the theory behind modern computing applications. Equally suited to classroom use or independent study, the text will appeal to students and professionals alike; only a background in calculus and linear algebra is assumed. Readers looking to continue on to more advanced topics will appreciate the authors’ companion volume Differential Geometry and Lie Groups: A Second Course.

Ordered algebraic structures --- Differential geometry. Global analysis --- Topological groups. Lie groups --- Mathematics --- Computer. Automation --- differentiaal geometrie --- computers --- wiskunde --- topologie

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This textbook explores advanced topics in differential geometry, chosen for their particular relevance to modern geometry processing. Analytic and algebraic perspectives augment core topics, with the authors taking care to motivate each new concept. Whether working toward theoretical or applied questions, readers will appreciate this accessible exploration of the mathematical concepts behind many modern applications. Beginning with an in-depth study of tensors and differential forms, the authors go on to explore a selection of topics that showcase these tools. An analytic theme unites the early chapters, which cover distributions, integration on manifolds and Lie groups, spherical harmonics, and operators on Riemannian manifolds. An exploration of bundles follows, from definitions to connections and curvature in vector bundles, culminating in a glimpse of Pontrjagin and Chern classes. The final chapter on Clifford algebras and Clifford groups draws the book to an algebraic conclusion, which can be seen as a generalized viewpoint of the quaternions. Differential Geometry and Lie Groups: A Second Course captures the mathematical theory needed for advanced study in differential geometry with a view to furthering geometry processing capabilities. Suited to classroom use or independent study, the text will appeal to students and professionals alike. A first course in differential geometry is assumed; the authors’ companion volume Differential Geometry and Lie Groups: A Computational Perspective provides the ideal preparation.

Differential geometry. --- Topological groups. --- Lie groups. --- Computer mathematics. --- Differential Geometry. --- Topological Groups, Lie Groups. --- Computational Mathematics and Numerical Analysis. --- Differential geometry --- Computer mathematics --- Electronic data processing --- Mathematics --- Groups, Lie --- Lie algebras --- Symmetric spaces --- Topological groups --- Groups, Topological --- Continuous groups --- Geometry, Differential.

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"For more than thirty years the senior author has been trying to learn algebraic geometry. In the process he discovered that many of the classic textbooks in algebraic geometry require substantial knowledge of cohomology, homological algebra, and sheaf theory. In an attempt to demystify these abstract concepts and facilitate understanding for a new generation of mathematicians, he along with co-author wrote this book for an audience who is familiar with basic concepts of linear and abstract algebra, but who never has had any exposure to the algebraic geometry or homological algebra. As such this book consists of two parts. The first part gives a crash-course on the homological and cohomological aspects of algebraic topology, with a bias in favor of cohomology. The second part is devoted to presheaves, sheaves, Cech cohomology, derived functors, sheaf cohomology, and spectral sequences. All important concepts are intuitively motivated and the associated proofs of the quintessential theorems are presented in detail rarely found in the standard texts"--

Homology theory --- Sheaf theory --- Algebraic topology --- Geometry, Algebraic --- Geometry, Differential

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Ordered algebraic structures --- Differential geometry. Global analysis --- Topological groups. Lie groups --- Mathematics --- Computer. Automation --- differentiaal geometrie --- computers --- wiskunde --- topologie